LINEAR MODELLING AND IDENTIFICATION OF A MOBILE ROBOT WITH DIFFERENTIAL DRIVE

Patrícia N. Guerra, Pablo J. Alsina, Adelardo A. D. Medeiros, Antônio P. Araújo

Abstract

This paper presents a modelling and identication method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x; y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆ᶩ. Thus, the resulting model is linear and time invariant and it can be identied through classical methods such as Recursive Least Mean Squares. This approach has a problem: ∆ᶩ can not directly measured. In this paper, this problem is solved using an estimate ~∆Ɩ based on a second order curve approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot.

References

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Paper Citation


in Harvard Style

Guerra P., Alsina P., Medeiros A. and Araújo A. (2004). LINEAR MODELLING AND IDENTIFICATION OF A MOBILE ROBOT WITH DIFFERENTIAL DRIVE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 263-269. DOI: 10.5220/0001140602630269


in Bibtex Style

@conference{icinco04,
author={Patrícia N. Guerra and Pablo J. Alsina and Adelardo A. D. Medeiros and Antônio P. Araújo},
title={LINEAR MODELLING AND IDENTIFICATION OF A MOBILE ROBOT WITH DIFFERENTIAL DRIVE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={263-269},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001140602630269},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LINEAR MODELLING AND IDENTIFICATION OF A MOBILE ROBOT WITH DIFFERENTIAL DRIVE
SN - 972-8865-12-0
AU - Guerra P.
AU - Alsina P.
AU - Medeiros A.
AU - Araújo A.
PY - 2004
SP - 263
EP - 269
DO - 10.5220/0001140602630269